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1. 1. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.1 CHAPTER 3 Random Signals and Noise 3.1 Introduction The concept of 'random variable' is adequate to deal with unpredictable voltages; that is, it enables us to come up with the probabilistic description of the numerical value of a random quantity, which we treat for convenience to be a voltage quantity. In the real world, the voltages vary not only in amplitude but also exhibit variations with respect to the time parameter. In other words, we have to develop mathematical tools for the probabilistic characterization of random signals. The resulting theory, which extends the mathematical model of probability so as to incorporate the time parameter, is generally called the theory of Random or Stochastic Processes. Before we get started with the mathematical development of a random process, let us consider a few practical examples of random processes and try to justify the assertion that the concept of random process is an extension of the concept of a random variable. Let the variable X denote the temperature of a certain city, say, at 9 A.M. In general, the value of X would be different on different days. In fact, the temperature readings at 9 A.M. on two different days could be significantly different, depending on the geographical location of the city and the time separation between the days of observation (In a place like Delhi, on a cold winter morning, temperature could be as low as 40 F whereas at the height of the summer, it could have crossed 100 F even by 9 A.M.!).
2. 2. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.2 To get the complete statistics of X , we need to record values of X over many days, which might enable us to estimate ( )Xf x . But the temperature is also a function of time. At 12 P.M., for example, the temperature may have an entirely different distribution. Thus the random variable X is a function of time and it would be more appropriate to denote it by ( )X t . At least, theoretically, the PDF of ( )1X t could be very much different from that of ( )2X t for 1 2t t≠ , though in practice, they may be very much similar if 1t and 2t are fairly closely spaced. As a second example, think of a situation where we have a very large number of speakers, each one of them uttering the same text into their individual microphones of identical construction. The waveforms recorded from different microphones would be different and the output of any given microphone would vary with time. Here again, the random variables obtained from sampling this collection of waveforms would depend on the sampling instants. As a third example, imagine a large collection of resistors, each having the same value of resistance and of identical composition and construction. Assume that all these resistors are at room temperature. It is well known that thermal voltage (usually referred to as thermal noise) develops across the terminals of such a resistor. If we make a simultaneous display of these noise voltages on a set of oscilloscopes, we find amplitude as well as time variations in these signals. In the communications context, these thermal voltages are a source of interference. Precisely how they limit our capacity to enjoy, say, listening to music in an AM receiver, is our concern. The theory of random processes enables one to come up with a quantitative answer to this kind of problem.
3. 3. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.3 3.2 Definition of a Random Process Consider a sample space S (pertaining to some random experiment) with sample points 1 2, , ..........., , ........ns s s . To every js ∈ S , let us assign a real valued function of time, ( ),jx s t which we denote by ( )jx t . This situation is illustrated in Fig. 3.1, which shows a sample space S with four points and four waveforms, labeled ( ), 1, 2, 3, 4jx t j = . Now, let us think of observing this set of waveforms at some time instant 1t t= as shown in the figure. Since each point js of S has associated with it, a number ( )1jx t and a probability jP , the collection of numbers, ( ){ }1 , 1, 2, 3, 4jx t j = forms a random variable. Observing the waveforms at a second time instant, say 2t , yields a different collection of numbers, and hence a different random variable. Indeed this set of four waveforms defines a random variable for each choice of the observation instant. The above situation can easily be extended to the case where there are infinite numbers of sample points and hence, the number of waveforms associated with them are correspondingly rich.
4. 4. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.4 Fig 3.1: A simple random process The probability system composed of a sample space, an ensemble (collection) of time functions and a probability measure is called a Random Process (RP) and is denoted ( )X t . Strictly speaking, a random process is a function of two variables, namely s ∈ S and ( ),t ∈ − ∞ ∞ . As such, a better notation would be ( ),X s t . For convenience, we use the simplified notation ( )X t to denote a random process. The individual waveforms of ( )X t are called sample functions and the probability measure is such that it assigns a probability to any meaningful event associated with these sample functions. Given a random process ( )X t , we can identify the following quantities: ( )X t : The random process ( )jx t : The sample function associated with the sample point js ( )iX t : The random variable obtained by observing the process at it t= ( )j ix t : A real number, giving the value of ( )jx t at it t= .
5. 5. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.5 We shall now present a few examples of random processes. Example 3.1 Consider the experiment of tossing a fair coin. The random process ( )X t is defined as follows: ( ) ( )sinX t t= π , if head shows up and ( ) 2X t t= , if the toss results in a tail. Sketch the sample functions. We wish to find the expression for the PDF of the random variables obtained from sampling the process at (a) 0t = and (b) 1t = . There are only two sample functions for the process. Let us denote them by ( )1x t and ( )2x t where ( ) ( )1 sinx t t= π and ( )2 2x t t= which are shown in Fig. 3.2. Fig. 3.2: The ensemble for the coin tossing experiment As heads and tails are equally likely, we have ( ) ( )1 2 1 2 P x t P x t⎡ ⎤ ⎡ ⎤= =⎣ ⎦ ⎣ ⎦ . Let 0X denote the random variable ( ) 0| tX t = and 1X correspond to ( ) 1| tX t = . Then, we have ( ) ( )0Xf x x= δ and ( ) ( ) ( )1 1 2 2 Xf x x x⎡ ⎤= δ + δ −⎣ ⎦ .
6. 6. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.6 Note that this is one among the simplest examples of RPs that can be used to construe the concept. Example 3.2 Consider the experiment of throwing a fair die. The sample space consists of six sample points, 1 6, ........,s s corresponding to the six faces of the die. Let the sample functions be given by ( ) ( ) 1 1 2 ix t t i= + − for , 1, ......., 6is s i= = . Let us find the mean value of the random variable ( ) 1| tX X t == . A few of the sample functions of this random process are shown below (Fig 3.3). Fig. 3.3: A few sample functions of the RP of Example 3.2 The PDF of X is ( ) ( ) 6 1 1 1 1 6 2 X i f x x i = ⎡ ⎤⎛ ⎞ = δ − + −⎜ ⎟⎢ ⎥ ⎝ ⎠⎣ ⎦ ∑ [ ] ( ) 1 1 3 5 7 9 11 3.0 12 E X = + + + + + = The examples cited above have two features in common, namely (i) the number of sample functions are finite (in fact, we could even say, quite small)
7. 7. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.7 and (ii) the sample functions could be mathematically described. In quite a few situations involving a random process, the above features may not be present. Consider the situation where we have at our disposal N identical resistors, N being a very large number (of the order of a million!). Let the experiment be 'picking a resistor at random' and the sample functions be the thermal noise voltage waveforms across these resistors. Then, typical sample functions might look like the ones shown in Fig. 3.4. Assuming that the probability of any resistor being picked up is 1 N , we find that this probability becomes smaller and smaller as N becomes larger and larger. Also, it would be an extremely difficult task to write a mathematical expression to describe the time variation of any given voltage waveform. However, as we shall see later on in this chapter, statistical characterization of such noise processes is still possible which is adequate for our purposes. Fig. 3.4: The ensemble for the experiment 'picking a resistor at random' One fine point deserves a special mention; that is, the waveforms (sample functions) in the ensemble are not random. They are deterministic. Randomness
8. 8. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.8 in this situation is associated not with the waveforms but with the uncertainty as to which waveform will occur on a given trial. 3.3 Stationarity By definition, a random process ( )X t implies the existence of an infinite number of random variables, one for every time instant in the range, t− ∞ < < ∞ . Let the process ( )X t be observed at n time instants, 1 2, , ..........., nt t t . We then have the corresponding random variables ( ) ( ) ( )1 2, , ..........., nX t X t X t . We define their Joint distribution function by ( ) ( ) ( ) ( ) ( ){ }1 1 2 1 1, ..........., , , ..........., , ........n n n nX t X t F x x x P X t x X t x= ≤ ≤ . Using a vector notation is quite often convenient and we denote the joint distribution by ( ) ( )F xX t where the n-component random vector ( ) ( ) ( )( )1 , ..........., nX t X t=X t and the dummy vector ( )1 2, , ..........., nx x x=x . The joint PDF of ( )X t , ( ) ( )fX t x , is given by ( ) ( ) ( ) ( ) 1 2 ........ n n f F x x x ∂ = ∂ ∂ ∂X t X t x x We say a random process ( )X t is specified if and only if a rule is given or implied for determining ( ) ( )X t F x or ( ) ( )X t f x for any finite set of observation instants ( )1 2, , ..........., nt t t . In application, we encounter three methods of specification. The first (and simplest) is to state the rule directly. For this to be possible, the joint density function must depend in a known way on the time instants. For the second method, a time function involving one or more parameters is given. For example, ( ) ( )cos cX t A t= ω + Θ where A and cω are constants and Θ is a random variable with a known PDF. The third method of specifying a random process is
9. 9. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.9 to generate its ensemble by applying a stated operation to the sample functions of a known process. For example, a random process ( )Y t may be the result of linear filtering on some known process ( )X t . We shall see later on in this lesson, examples of all these methods of specification. Once ( ) ( )X t f x is known, it is possible for us to compute the probability of various events. For example, we might be interested in the probability of the random process ( )X t passing through a set of windows as shown in Fig. 3.5. Let A be the event: ( ) ( ) ( ){ }1 1 1 2 2 2 3 3 3: , ,A s a X t b a X t b a X t b= < ≤ < ≤ < ≤ That is, the event A consists of all those sample points { }js such that the corresponding sample functions ( ){ }jx t satisfy the requirement, ( ) , 1, 2, 3i j i ia x t b i≤ ≤ = . Then the required quantity is ( )P A . A typical sample function which would contribute to ( )P A is shown in the same figure. ( )P A can be calculated as ( ) ( ) ( ) 1 2 3 1 2 3 b b b a a a P A f= ∫ ∫ ∫ X t x d x where ( ) ( ) ( ) ( )( )1 2 3, ,X t X t X t=x t and 1 2 3d x d x d x=d x Fig. 3.5: Set of windows and a waveform that passes through them
10. 10. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.10 The above step can easily be generalized to the case of a random vector with n-components. Stationary random processes constitute an important subset of the general class of random processes. We shall define stationarity here. Let the process ( )X t be observed at time instants 1 2, , .........., nt t t and ( )X t be the corresponding random vector. Def. 3.1: A random process ( )X t is said to be strictly stationary or Stationary in a Strict Sense (SSS) if the joint PDF ( ) ( )fX t x is invariant to a translation of the time origin; that is, ( )X t is SSS, only if ( ) ( ) ( ) ( )X t T X t f x f x+ = (3.1) where ( ) ( )1 2, , .........., nt T t T t T t T+ = + + + . For ( )X t to be SSS, Eq. 3.1 should be valid for every finite set of time instants { }, 1, 2, ..........,jt j n= , and for every time shift T and dummy vector x . If ( )X t is not stationary, then it is called a nonstationary process. One implication of stationarity is that the probability of the set of sample functions of this process which passes through the windows of Fig. 3.6(a) is equal to the probability of the set of sample functions which passes through the corresponding time shifted windows of Fig. 3.6(b). Note, however, that it is not necessary that these two sets consist of the same sample functions.
11. 11. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.11 Fig. 3.6: (a) Original set of Windows (b) The translated set Example 3.3 We cite below an example of a nonstationary process (It is easier to do this than give a nontrivial example of a stationary process). Let ( ) ( )sin 2X t F t= π where F is a random variable with the PDF ( ) 1 , 100 200 100 0 , F f Hz f f otherwise ⎧ ≤ ≤⎪ = ⎨ ⎪⎩ (Note that this specification of ( )X t corresponds to the second method mentioned earlier on in this section). We now show that ( )X t is nonstationary. ( )X t consists of an infinite number of sample functions. Each sample function is a sine wave of unit amplitude and a particular frequency f . Over the ensemble, the random variable F takes all possible values in the range ( )100, 200 Hz . Three members of this ensemble, (with 100, 150f = and 200 Hz) are plotted in Fig. 3.7.
12. 12. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.12 Fig. 3.7: A few sample functions of the process of example 3.3 To show that ( )X t is nonstationary, we need only observe that every waveform in the ensemble is, zero at 0t = , positive for 0 2.5 sect m< < negative for ( )2.5 sec 0m t− < < .
13. 13. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.13 Thus the density function of the random variable ( )1X t for 1 1 sect m= is identically zero for negative arguments whereas the density function of the RV ( )2X t for 2 1 sect m= − is non-zero only for negative arguments (Of course, the PDF of ( )0X is an impulse). For a process that is SSS, the one-dimensional PDF is independent of the observation instant, which is evidently not the case for this example. Hence ( )X t is nonstationary. 3. 4 Ensemble Averages We had mentioned earlier that a random process is completely specified, if ( ) ( )fX t x is known. Seldom is it possible to have this information and we may have to be content with a partial description of the process based on certain averages. When these averages are derived from the ensemble, they are called ensemble averages. Usually, the mean function and the autocorrelation function, (or the auto-covariance function) of the process provide a useful description of the processes. At times, we require the cross-correlation between two different processes. (This situation is analogous to the random variable case, wherein we had mentioned that even if the PDF of the variable is not available, certain averages such as mean value, variance etc., do provide adequate or useful information). Def. 3.2: The Mean Function The mean function of a process ( )X t is ( ) ( ) ( ) ( ) ( )X x t m t E X t X t x f x d x ∞ − ∞ ⎡ ⎤= = =⎣ ⎦ ∫ (3.2) For example, if iX and jX are the random variables obtained by sampling the process at it t= and jt t= respectively, then ( ) ( )ii x X iX x f x d x m t ∞ − ∞ = =∫
14. 14. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.14 ( ) ( )jj x X jX x f x d x m t ∞ − ∞ = =∫ In general, ( )Xm t is a function of time. Def. 3.3: The Autocorrelation Function The autocorrelation function of a random process ( )X t is a function of two variables kt and it , and is given by ( ) ( ) ( ),X k i k iR t t E X t X t⎡ ⎤= ⎣ ⎦ (3.3) Denoting the joint PDF of the random variables ( )kX t and ( )iX t by ( ), ,k iX Xf x y we may rewrite Eq. 3.3 as ( ) ( ),, ,k iX k i X XR t t x y f x y d x d y ∞ ∞ − ∞ − ∞ = ∫ ∫ We also use ACF to denote the Auto Correlation Function. Def. 3.4: The Auto-covariance Function Let ( ),X k iC t t denote the auto covariance function of ( )X t . It is given by ( ) ( ) ( )( ) ( ) ( )( ),X k i k X k i X iC t t E X t m t X t m t⎡ ⎤= − −⎣ ⎦ (3.4a) It is not too difficult to show that ( ) ( ) ( ) ( ), ,X k i X k i X k X iC t t R t t m t m t= − (3.4b) In general, the autocorrelation and the auto-covariance would be a function of both the arguments kt and it . If the process has a zero mean value (that is, ( ) 0Xm t = for all t ), then ( ) ( ), ,X k i X k iC t t R t t= . For a stationary process, the ensemble averages defined above take a simpler form. In particular, we find that mean function of the process is a constant. That is, ( )X Xm t m= (3.5a) Xm being a constant. In such a case, we can simply mention the mean value of the process. Also, for a stationary process, we find that the autocorrelation and
15. 15. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.15 auto-covariance functions depend only on the time difference ( )k it t− , rather than on the actual values of kt and it . This can be shown as follows. ( ) ( ) ( ),X k i k iR t t E X t X t⎡ ⎤= ⎣ ⎦ ( ) ( )k iE X t T X t T⎡ ⎤= + +⎣ ⎦ , as ( )X t is stationary. In particular if iT t= − , then ( ) ( ) ( ), 0X k i k iR t t E X t t X⎡ ⎤= −⎣ ⎦ (3.5b) ( ) ( ), , 0X k i X k iR t t R t t= − In order to simplify the notation, it is conventional to drop the second argument on the RHS of Eq. 3.5(b) and write as ( ) ( ),X k i X k iR t t R t t= − In view of Eq. 3.4(b), it is not difficult to see that for a stationary process ( ) ( ),X k i X k iC t t C t t= − It is important to realize that for a process that is SSS, Eq. 3.5(a) and Eq. 3.5(b) hold. However, we should not infer that any process for which Eq. 3.5 is valid, is a stationary process. In any case, the processes satisfying Eq. 3.5 are sufficiently useful and are termed Wide Sense Stationary (WSS) processes. Def. 3.5: Wide Sense Stationarity A process ( )X t is WSS or stationary in a wide sense1 , provided ( )X Xm t m= (3.6a) and ( ) ( ),X k i X k iR t t R t t= − (3.6b) Wide sense stationarity represents a weak kind of stationarity in that all processes that are SSS are also WSS; but the converse is not necessarily true. When we simply use the word stationary, we imply stationarity in the strict sense. 1 For definitions of other forms of stationarity (such as Nth order stationary) see [1, P302]
16. 16. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.16 3.4.1 Properties of ACF The autocorrelation function of a WSS process satisfies certain properties, which we shall presently establish. ACF is a very useful tool and a thorough understanding of its behavior is quite essential for a further study of the random processes of interest to us. For convenience of notation, we define the ACF of a wide-sense stationary process ( )X t as ( ) ( ) ( )XR E X t X t⎡ ⎤τ = + τ⎣ ⎦ (3.7) Note that τ is the difference between the two time instants at which the process is being sampled. P1) The mean-square value of the process is ( ) 0XR τ = τ . This follows from Eq. 3.7 because, ( ) ( )2 0XR E X t⎡ ⎤= ⎣ ⎦ As ( )0XR is a constant, we infer that for a WSS process, mean and mean- square values are independent of time. P2) The ACF is an even function of τ ; that is, ( ) ( )X XR R− τ = τ This is because ( ) ( ) ( ) ( )E X t X t E X t X t⎡ ⎤ ⎡ ⎤+ τ = + τ⎣ ⎦ ⎣ ⎦ . That is, ( ) ( )X XR t t R t t⎡ ⎤ ⎡ ⎤+ τ − = − + τ⎣ ⎦ ⎣ ⎦ which is the desired result. P3) ACF is maximum at the origin. Consider the quantity, ( ) ( ){ }2 E X t X t⎡ ⎤± + τ⎣ ⎦ Being the expectation of a squared quantity, it is nonnegative. Expanding the squared quantity and making use of the linearity property of the expectation, we have ( ) ( )0 0X XR R± τ ≥ which implies ( ) ( )0X XR R≥ τ .
17. 17. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.17 P4) If the sample functions of the process ( )X t are periodic with period 0T , then the ACF is also periodic with the same period. This property can be established as follows. Consider ( ) ( )E X t X t⎡ ⎤+ τ⎣ ⎦ for 0Tτ ≥ . As each sample function repeats with period 0T , the product repeats and so does the expectation of this product. The physical significance of ( )XR τ is that it provides a means of describing the inter-dependence of two random variables obtained by observing the process ( )X t at two time instants τ seconds apart. In fact if ( )X t is a zero mean process, then for any 1τ = τ , ( ) ( ) 1 0 X X R R τ is the correlation coefficient of the two random variables spaced 1τ seconds apart. It is therefore apparent that the more rapidly ( )X t changes with time, the more rapidly ( )XR τ decreases from its maximum value ( )0XR as τ increases (Fig. 3.8). This decrease may be characterized by a de- correlation time 0τ , such that for ( ), XR0τ ≥ τ τ remains below some prescribed value, say ( )0 100 XR . We shall now take up a few examples to compute some of the ensemble averages of interest to us. Fig. 3.8: ACF of a slowly and rapidly fluctuating random process
18. 18. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.18 Example 3.4 For the random process of Example 3.2, let us compute ( )2, 4XR . ( ) ( ) ( )2, 4 2 4XR E X X⎡ ⎤= ⎣ ⎦ ( ) ( ) 6 1 2 4j j j j P x x x = ⎡ ⎤= ⎣ ⎦∑ A few of the sample functions of the process are shown below. Fig. 3.9: Sampling the process of example 3.2 at 2 and 4t = As 1 6 jP x⎡ ⎤ =⎣ ⎦ for all j , we have ( ) ( ) ( ) 6 1 1 2, 4 2 4 6 X j j j R x x = = ∑ for 1j = , the two samples that contribute to the ACF have the values 1 (indicated by the on ( )1x t ) and 2 (indicated by × on ( )1x t ). The other sample pairs are ( ) ( ) ( ) ( ) ( )2, 3 , 3, 4 , 4, 5 , 5, 6 , 6, 7 .
19. 19. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.19 Hence ( ) [ ] 1 2, 4 2 6 12 20 30 42 6 XR = + + + + + 112 18.66 6 = = Exercise 3.1 Let a random process ( )X t consist of 6 equally likely sample functions, given by ( ) , 1, 2, ......, 6ix t i t i= = . Let X and Y be the random variables obtained by sampling process at 1t = and 2t = respectively. Find a) [ ]E X and [ ]E Y b) ( ), ,X Yf x y c) ( )1, 2XR
20. 20. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.20 Example 3.5 Let ( ) ( )cos cX t A t= ω + Θ , where A and cω are constants and Θ is a random variable with the PDF, ( ) 1 , 0 2 2 0 , f otherwise Θ ⎧ ≤ θ < π⎪ πθ = ⎨ ⎪ ⎩ Let us compute a) ( )Xm t and b) ( )1 2,XR t t . Exercise 3.2 A random process ( )X t consists of 5 sample functions, each occurring with probability 1 5 . Four of these sample functions are given below. ( ) ( ) ( )1 cos 2 sin 2x t t t= π − π ( ) ( ) ( )2 sin 2 cos 2x t t t= π − π ( )3 2 cosx t t= − ( )4 2 sinx t t= − a) Find the fifth sample function ( )5x t of the process ( )X t such that the process ( )X t is i) zero mean ii) ( ) ( )1 2 1 2,X XR t t R t t= − b) Let V be the random variable ( ) 0t X t = and W be the random variable ( ) 4t X t = π . Show that, though the process is WSS, ( ) ( )V Wf v f v≠ .
21. 21. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.21 (Note that the random processes is specified in terms of a random parameter, namely Θ , another example of the second method of specification) The ensemble of ( )X t is composed of sinusoids of amplitude A and frequency cf but with a random initial phase. Of course, a given sample function has a fixed value for 1θ = θ , where 10 2≤ θ < π . Three sample functions of the process are shown in Fig. 3.10 for 6 10cf Hz= and 1A = .
22. 22. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.22 Fig 3.10: Three sample functions of the process of example 3.5
23. 23. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.23 a) ( ) ( )cosX cm t E A t⎡ ⎤= ω + Θ⎣ ⎦ . As Θ is the only random variable, we have, ( ) ( ) 2 0 cos 2 X c A m t t d π = ω + θ θ π ∫ 0= Note that Θ is uniform in the range 0 to 2π . This is a reasonable answer because, for any given 1θ = θ , the ensemble has both the waveforms, namely, ( )1cos cA tω + θ and ( ) ( )1 1cos cosc cA t A t⎡ ⎤ω + θ + π = − ω + θ⎣ ⎦ . Both the waveforms are equally likely and sum to zero for all values of t . b) ( ) ( ) ( )1 2 1 2, cos cosX c cR t t E A t A t⎡ ⎤= ω + Θ ω + Θ⎣ ⎦ ( ) ( ){ } 2 1 2 1 2cos 2 cos 2 c c A t t t t⎡ ⎤ ⎡ ⎤= ω + + Θ + ω −⎣ ⎦ ⎣ ⎦ As the first term on the RHS evaluates to zero, we have ( ) ( ) 2 1 2 1 2, cos 2 X c A R t t t t⎡ ⎤= ω −⎣ ⎦ As the ACF is only a function of the time difference, we can write ( ) ( ) ( ) ( ) 2 1 2 1 2, cos 2 X X X c A R t t R t t R= − = τ = ω τ Note that ( )X t is composed of sample functions that are periodic with period 1 cf . In accordance with property P4, we find that the ACF is also periodic with period 1 cf . Of course, it is also an even function of τ (property P3).
24. 24. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.24 Example 3.6 In this example, we shall find the ACF of the random impulse train process specified by ( ) ( )n d n X t A t nT T= δ − −∑ where the amplitude nA is a random variable with ( ) ( ) 1 1 1 2 n nP A P A= = =− = . Successive amplitudes are statistically independent. The time interval dt of the first impulse from the origin has uniform PDF in the range ( )0, T . That is, ( ) 1 , 0DT d df t t T T = ≤ ≤ and zero elsewhere. Impulses are spaced T seconds Exercise 3.3 For the process ( )X t of example 3.5, let 2cω = π . let Y be the random variable obtained from sampling ( )X t and 1 4 t = . Find ( )Yf y . Exercise 3.4 Let ( ) ( )= ω + Θcos cX t A t where A and cω are constants, and θ is a random variable, uniformly distributed in the range 0 ≤ θ ≤ π. Show the process is not WSS. Exercise 3.5 Let ( ) ( ) ( )cos sinc cZ t X t Y t= ω + ω where X and Y are independent Gaussian variables, each with zero mean and unit variance. Show that ( )Z t is WSS and ( ) ( )τ = ω τZ cR cos . Let ( )1Z t V= . Show that V is ( )0, 1N .
25. 25. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.25 apart and nA is independent of dT . (The symbol n ∑ indicates summation with respect to n where n , an integer, ranges from ( ),− ∞ ∞ .) A typical sample function of the process ( )X t is shown in Fig. 3.11. Fig. 3.11: Sample function of the random impulse train process ( ) ( ) ( ),X m d n d m n R t t E A t mT T A t nT T ⎧ ⎫⎡ ⎤ ⎡ ⎤ + τ = δ − + τ − δ − −⎨ ⎬⎢ ⎥ ⎢ ⎥ ⎣ ⎦ ⎣ ⎦⎩ ⎭ ∑ ∑ ( ) ( )m n d d m n E A A t mT T t nT T ⎡ ⎤ = δ − + τ − δ − −⎢ ⎥ ⎣ ⎦ ∑∑ As nA is independent of dT , we can write (after interchanging the order of expectation and summation), ( ) ( ) ( ),X m n d d m n R t t A A t nT T t nT T+ τ = δ − + τ − δ − −∑∑ But, 1, 0, m n m n A A otherwise =⎧ = ⎨ ⎩ This is because when m n= , ( ) ( ) 2 22 1 1 1 1 1 2 2 m n mA A A= = + − = . If m n≠ , then m n m nA A A A= , as successive amplitudes are statistically independent. But ( ) ( ) 1 1 1 1 0 2 2 m nA A= = + − = . Using this result, we have
26. 26. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.26 ( ) ( ) ( ),X d d n R t t t nT T t nT T+ τ = δ − + τ − δ − −∑ ( ) ( ) 0 1 T d d d n t nT t t nT t d t T = δ − + τ − δ − −∑ ∫ (Note that dT is uniformly distributed in the range 0 to T ) Let dt nT t x− − = . Then, ( ) ( ) ( ) ( )1 1 , t nT X n t n T R t t x x d x T − − + + τ = δ δ + τ∑ ∫ ( ) ( ) −∞ + ∞ = δ δ + τ∫ x x d x T 1 Letting y x= − , we have ( ) ( ) ( ) ( ) ( ) 1 1 ,XR t t y y d y y y d y T T ∞ ∞ − ∞ − ∞ + τ = δ − δ τ − = δ δ τ −∫ ∫ ( ) ( ) ( ) 1 1 T T ⎡ ⎤= δ τ ∗ δ τ = δ τ⎣ ⎦ That is, the ACF is a function of τ alone and it is an impulse! It is to be pointed out that in the case of a random process, we can also define time averages such as time-averaged mean value or time-averaged ACF etc., whose calculation is based on the individual sample functions. There are certain processes, called ergodic processes where it is possible to interchange the corresponding ensemble and time averages. More details on ergodic processes can be found in [2]. 3.4.2 Cross-correlation Consider two random processes ( )X t and ( )Y t . We define the two cross-correlation functions of ( )X t and ( )Y t as follows: ( ) ( ) ( ), 1 2 1 2,X YR t t E X t Y t⎡ ⎤= ⎣ ⎦
27. 27. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.27 ( ) ( ) ( ), 1 2 1 2,Y XR t t E Y t X t⎡ ⎤= ⎣ ⎦ where 1t and 2t are the two time instants at which the processes are observed. Def. 3.6: Two processes are said to be jointly wide-sense stationary if, i) ( )X t and ( )Y t are WSS and ii) ( ) ( ) ( ), 1 2 , 1 2,X Y X Y X YR t t R t t R= − = τ Cross-correlation is not generally an even function of τ as is the case with ACF, nor does it have a maximum at the origin. However, it does obey a symmetrical relationship as follows: ( ) ( )X Y Y XR Rτ = − τ (3.8) Def. 3.7: Two random process ( )X t and ( )Y t are called (mutually) orthogonal if ( )1 2, 0X YR t t = for every 1t and 2t . Def. 3.8: Two random process ( )X t and ( )Y t are uncorrelated if ( ) ( ) ( ) ( )1 2 1 2 1 2, , 0X Y X Y X YC t t R t t m t m t= − = for every 1t and 2t . Exercise 3.6 Show that the cross-correlation function satisfies the following inequalities. a) ( ) ( ) ( )0 0X Y X YR R Rτ ≤ b) ( ) ( ) ( )⎡ ⎤τ ≤ +⎣ ⎦ 1 0 0 2 X Y X YR R R
28. 28. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.28 3.5 Systems with Random Signal Excitation In Chapter 1, we discussed the transmission of deterministic signals through linear systems. We had developed the relations for the input-output spectral densities. We shall now develop the analogous relationships for the case when a linear time-invariant system is excited by random signals. Consider the scheme shown in Fig. 3.12. ( )h t represents the (known) impulse response of a linear time-invariant system that is excited by a random process ( )X t , resulting in the output process ( )Y t . Fig 3.12: Transmission of a random process through a linear filter We shall now try to characterize the output process ( )Y t in terms of the input process ( )X t and the impulse response ( )h t [third method of specification]. Specifically, we would like to develop the relations for ( )Ym t and ( )1 2,YR t t when ( )X t is WSS. Let ( )jx t be a sample function of ( )X t which is applied as input to the linear time-invariant system. Let ( )jy t be the corresponding output where ( )jy t belongs to ( )Y t . Then, ( ) ( ) ( )j jy t h x t d ∞ − ∞ = τ − τ τ∫ As the above relation is true for every sample function of ( )X t , we can write ( ) ( ) ( )Y t h X t d ∞ − ∞ = τ − τ τ∫ Consider first the mean of the output process
29. 29. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.29 ( ) ( ) ( ) ( )Ym t E Y t E h X t d ∞ − ∞ ⎡ ⎤ ⎡ ⎤= = τ − τ τ⎢ ⎥⎣ ⎦ ⎢ ⎥⎣ ⎦ ∫ (3.9a) Provided that ( )E X t⎡ ⎤⎣ ⎦ is finite for all t , and the system is stable, we may interchange the order of the expectation and integration with respect to τ in Eq. 3.9(a) and write ( ) ( ) ( )Ym t h E X t d ∞ − ∞ ⎡ ⎤= τ − τ τ⎣ ⎦∫ (3.9b) where we have used the fact that ( )h τ is deterministic and can be brought outside the expectation. If ( )X t is WSS, then ( )E X t⎡ ⎤⎣ ⎦ is a constant Xm , so that Eq. 3.9(b) can be simplified as ( ) ( )Y Xm t m h d ∞ − ∞ = τ τ∫ ( )0Xm H= (3.10) where ( ) ( ) 0 0 f H H f = = and ( )H f is the transfer function of the given system. We note that ( )Ym t is a constant. Let us compute ( ),YR t u , where t and u denote the time instants at which the output process is observed. We have, ( ) ( ) ( ) ( ) ( ) ( ) ( )1 1 1 2 2 2,YR t u E Y t Y u E h X t d h X u d ∞ ∞ − ∞ − ∞ ⎡ ⎤ ⎡ ⎤= = τ − τ τ τ − τ τ⎢ ⎥⎣ ⎦ ⎢ ⎥⎣ ⎦ ∫ ∫ Again, interchanging the order of integration and expectation, we obtain ( ) ( ) ( ) ( ) ( )1 1 2 2 1 2,YR t u d h d h E X t X u ∞ ∞ − ∞ − ∞ ⎡ ⎤= τ τ τ τ − τ − τ⎣ ⎦∫ ∫ ( ) ( ) ( )1 1 2 2 1 2,Xd h d h R t u ∞ ∞ − ∞ − ∞ = τ τ τ τ − τ − τ∫ ∫ If ( )X t is WSS, then
30. 30. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.30 ( ) ( ) ( ) ( )1 1 2 2 1 2,Y XR t u d h d h R ∞ ∞ − ∞ − ∞ = τ τ τ τ τ − τ + τ∫ ∫ (3.11) where t uτ = − . Eq. 3.11 implies that ( ),YR t u is only a function of t u− . Hence, the LHS of Eq. 3.11 can be written as ( )YR τ . Eq. 3.10 and 3.11 together imply that if ( )X t is WSS, then so is ( )Y t . 3.6 Power Spectral Density The notion of Power Spectral Density (PSD) is an important and useful one. It provides the frequency domain description of a stationary (at least WSS) random process. From Eq. 3.11, we have ( ) ( ) ( ) ( ) ( )2 1 2 2 1 1 20Y XE Y t R h h R d d ∞ ∞ − ∞ − ∞ ⎡ ⎤ = = τ τ τ − τ τ τ⎣ ⎦ ∫ ∫ But, ( ) ( ) 12 1 j f h H f e d f ∞ π τ − ∞ τ = ∫ Hence, ( ) ( ) ( ) ( )122 2 2 1 1 2 j f XE Y t H f e d f h R d d ∞ ∞ ∞ π τ − ∞ − ∞ − ∞ ⎡ ⎤⎡ ⎤ = τ τ − τ τ τ⎣ ⎦ ⎣ ⎦∫ ∫ ∫ ( ) ( ) ( ) 12 2 2 2 1 1 j f XH f d f h d R e d ∞ ∞ ∞ π τ − ∞ − ∞ − ∞ = τ τ τ − τ τ∫ ∫ ∫ Let 2 1τ − τ = λ ; that is, 1 2τ = τ − λ . ( ) ( ) ( ) ( )222 2 2 2 j f j f XE Y t H f d f h e d R e d ∞ ∞ ∞ π τ − π λ − ∞ − ∞ − ∞ ⎡ ⎤ = τ τ λ λ⎣ ⎦ ∫ ∫ ∫ The second integral above is ( )H f∗ , the complex conjugate of ( )H f . The third integral will be a function f , which we shall denote by ( )XS f . Then ( ) ( ) ( ) 22 XE Y t S f H f d f ∞ − ∞ ⎡ ⎤ =⎣ ⎦ ∫ (3.12)
31. 31. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.31 where ( ) ( ) 2j f X XS f R e d ∞ − π λ − ∞ = λ λ∫ . We will now justify that ( )XS f can be interpreted as the power spectral density of the WSS process ( )X t . Suppose that the process ( )X t is passed through an ideal narrowband, band-pass filter with the passband centered at cf and having the amplitude response ( ) 1 1, 2 1 0, 2 c c f f f H f f f f ⎧ ± < ∆⎪⎪ = ⎨ ⎪ ± > ∆ ⎪⎩ Then, from Eq. 3.12, we find that if the filter band-width is sufficiently small and ( )XS f is a continuous function, then the mean square value of the filter output is approximately, ( ) ( ) ( )2 2 X cE Y t f S f⎡ ⎤ ∆⎣ ⎦ The filter however passes only those frequency components of the input random process ( )X t that lie inside the narrow frequency band of width f∆ centered about cf± . Thus, ( )X cS f represents the frequency density of the average power in the process ( )X t , evaluated at cf f= . The dimensions of ( )XS f are watts/Hz. 3.6.1 Properties of power spectral density The PSD ( )XS f and the ACF ( )XR τ of a WSS process ( )X t form a Fourier transform pair and are given by ( ) ( ) 2j f X XS f R e d ∞ − π τ − ∞ = τ τ∫ (3.13)
32. 32. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.32 ( ) ( ) 2j f X XR S f e d f ∞ π τ − ∞ τ = ∫ (3.14) Eq. 3.13 and 3.14 are popularly known as Weiner-Khinchine Relations. Using this pair of equations, we shall derive some general properties of PSD of a WSS random process. P1) The zero frequency value of the PSD of a WSS process equals the total area under the graph of ACF; that is ( ) ( )0X XS R d ∞ − ∞ = τ τ∫ This property follows directly from Eq. 3.13 by putting 0f = . P2) The mean square value of a WSS process equals the total area under the graph of the PSD; that is, ( ) ( )2 XE X t S f d f ∞ − ∞ ⎡ ⎤ =⎣ ⎦ ∫ This property follows from Eq. 3.14 by putting 0τ = and noting ( ) ( )2 0XR E X t⎡ ⎤= ⎣ ⎦ . P3) The PSD is real and is an even function of frequency; that is, ( )XS f is real and ( ) ( )X XS f S f− = . This result is due to the property of the ACF, namely, ( )XR τ is real and even. P4) The PSD of a WSS process is always non-negative; that is, ( ) 0XS f ≥ , for all f . To establish this, assume that ( )XS f is negative, for a certain frequency interval, say ( )1 1,f f f+ ∆ . Let ( )X t be the input to a narrowband filter with the transfer function characteristic, ( ) 1 11, 0, f f f f H f otherwise ⎧ ≤ ≤ + ∆⎪ = ⎨ ⎪⎩
33. 33. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.33 Then from Eq. 3.12, we have ( ) ( ) ( ) 22 XE Y t S f H f d f ∞ − ∞ ⎡ ⎤ =⎣ ⎦ ∫ , as a negative quantity which is a contradiction. We shall now derive an expression for the power spectral density, ( )YS f , of the output of Fig. 3.12. Using the relation ( ) ( )1 X XR F S f− ⎡ ⎤τ = ⎣ ⎦ , Eq. 3.11 can be written as ( ) ( ) ( ) ( ) ( )1 22 1 2 1 2 j f Y XR h h S f e d f d d ∞ ∞ ∞ π τ − τ + τ − ∞ − ∞ − ∞ ⎡ ⎤ τ = τ τ τ τ⎢ ⎥ ⎢ ⎥⎣ ⎦ ∫ ∫ ∫ ( ) ( ) ( )1 22 2 2 1 1 2 2 j f j f j f Xh e d h e d S f e d f ∞ ∞ ∞ − π τ π τ π τ − ∞ − ∞ − ∞ ⎡ ⎤ ⎡ ⎤ = τ τ τ τ⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥⎣ ⎦ ⎣ ⎦ ∫ ∫ ∫ ( ) ( ) ( ) 2j f XH f H f S f e d f ∞ ∗ π τ − ∞ = ⋅∫ ( ) ( ) 2 2j f XH f S f e d f ∞ π τ − ∞ ⎡ ⎤= ⎢ ⎥⎣ ⎦∫ (3.15) As ( ) ( )Y YR S fτ ←⎯→ , Eq. 3.15 implies ( ) ( ) ( ) 2 Y XS f S f H f= (3.16) Note that when the input to an LTI system is deterministic, we have the input- output FT relationship, ( ) ( ) ( )Y f X f H f= . The corresponding time domain relationship is ( ) ( ) ( )y t x t h t= ∗ . Let ( )hR τ denote the ACF of the ( )h t . Then ( ) ( ) 2 hR H fτ ←⎯→ (see P4, sec 1.6.2). Hence ( ) ( ) ( )Y x hR R Rτ = τ ∗ τ ( ) ( ) ( )xR h h∗ = τ ∗ τ ∗ − τ (3.17a) If the impulse response is real, then ( ) ( ) ( ) ( )Y xR R h hτ = τ ∗ τ ∗ − τ (3.17b)
34. 34. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.34 We shall now take up a few examples involving the computation of PSD. Example 3.7 For the random process ( )X t of example 3.5, let us find the PSD. Since ( ) ( ) 2 cos 2 X c A R τ = ω τ , we have ( ) ( ) ( ) 2 4 X c c A S f f f f f⎡ ⎤= δ − + δ +⎣ ⎦ Example 3.8: (Modulated Random Process) Let ( ) ( ) ( )cos cY t X t t= ω + Θ where ( )X t is a WSS process with known ( )XR τ and ( )XS f . Θ is a uniformly distributed random variable in the range ( )0 2− π . ( )X t and Θ are independent. Let us find the ACF and PSD of ( )Y t . ( ) ( ) ( )YR E Y t Y t⎡ ⎤τ = + τ⎣ ⎦ ( ) ( ) ( ) ( ){ }cos cosc cE X t t X t t⎡ ⎤= + τ ω + τ + Θ ω + Θ⎣ ⎦ As ( )X t and Θ are independent, we have ( ) ( ) ( ) ( )( ) ( )cos cosY c cR E X t X t E t t⎡ ⎤⎡ ⎤τ = + τ ω + τ + Θ ω + Θ⎣ ⎦ ⎣ ⎦ ( ) ( ) 1 cos 2 X cR= τ ω τ ( ) ( ) ( ) ( ) 1 4 Y Y X c X cS f F R S f f S f f⎡ ⎤ ⎡ ⎤= τ = − + +⎣ ⎦ ⎣ ⎦ Example 3.9: (Random Binary Wave) Fig. 3.13 shows the sample function ( )jx t of a process ( )X t consisting of a random sequence of binary symbols 1 and 0. It is assumed that:
35. 35. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.35 1. The symbols 1 and 0 are represented by pulses of amplitude A+ and A− volts, respectively and duration T seconds. 2. The pulses are not synchronized, so that the starting time of the first pulse, dt is equally likely to lie anywhere between zero and T seconds. That is, dt is the sample value of a uniformly distributed random variable dT with its probability density function defined by ( ) 1 , 0 0 , d d T d t T f t T elsewhere ⎧ ≤ ≤⎪ = ⎨ ⎪⎩ Fig. 3.13: Random binary wave 3. During any time interval ( )1 dn T t t nT− ≤ − ≤ , where n is an integer, the presence of a 1 or 0 is determined by tossing a fair coin; specifically, if the outcome is ‘heads’, we have a 1 and if the outcome is 'tails', we have a 0. These two symbols are thus equally likely, and the presence of a 1 or 0 in anyone interval is independent of all other intervals. We shall compute ( )XS f and ( )XR τ . The above process can be generated by passing the random impulse train (Example 3.6) through a filter with the impulse response, ( ) , 0 0 , A t T h t otherwise ≤ ≤⎧ = ⎨ ⎩
36. 36. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.36 ( ) ( )sinH f AT c f T= Therefore, ( ) ( )2 2 21 sinXS f A T c f T T = ( )2 2 sinA T c f T= Taking the inverse Fourier transform, we have ( ) 2 1 , 0 0 , X A T R T otherwise ⎧ ⎛ ⎞τ − ≤ τ ≤⎪ ⎜ ⎟ τ = ⎨ ⎝ ⎠ ⎪ ⎩ The ACF of the random binary wave process can also be computed by direct time domain arguments. The interested reader is referred to [3]. We note that the energy spectral density of a rectangular pulse ( )x t of amplitude A and duration T , is ( ) ( )2 2 2 sinxE f A T c f T= Hence, ( ) ( )x xS f E f T= . Exercise 3.7 In the random binary wave process of example 3.9, let 1 be represented by a pulse of amplitude A and duration T sec. The binary zero is indicated by the absence of any pulse. The rest of the description of the process is the same as in the example 3.9. Show that ( ) ( ) ( )22 2 2 sin 4 X f TA S f f f T ⎡ ⎤π = δ +⎢ ⎥ π⎢ ⎥⎣ ⎦ Exercise 3.8 The input voltage to an RLC series circuit is a WSS process ( )X t with ( ) 2X t = and ( ) 2 4XR e − τ τ = + . Let ( )Y t be the voltage across the capacitor. Find a) ( )Y t b) ( )YS f
37. 37. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.37 3.7 Cross-Spectral Density Just as the PSD of a process provides a measure of the frequency distribution of the given process, the cross spectral density provides a measure of frequency interrelationship between two processes. (This will become clear from the examples that follow). Let ( )X t and ( )Y t be two jointly WSS random processes with their cross correlation functions ( )X YR τ and ( )Y XR τ . Then, we define, ( )X YS f and ( )Y XS f as follows: ( ) ( ) 2j f X Y X YS f R e d ∞ − π τ − ∞ = τ τ∫ (3.18) ( ) ( ) 2j f Y X Y XS f R e d ∞ − π τ − ∞ = τ τ∫ (3.19) That is, ( ) ( )X Y X YR S fτ ←⎯→ ( ) ( )Y X Y XR S fτ ←⎯→ The cross-spectral density is in general complex. Even if it is real, it need not be positive. However, as ( ) ( )X Y Y XR Rτ = − τ , we find ( ) ( ) ( )X Y Y X Y XS f S f S f∗ = − = We shall now give a few examples that involve the cross-spectrum. Example 3.10 Let ( ) ( ) ( )Z t X t Y t= + where the random processes ( )X t and ( )Y t are jointly WSS and ( ) ( ) 0X t Y t= = . We will show that to find ( )ZS f , we require the cross- spectrum. ( ) ( ) ( ),ZR t u E Z t Z u⎡ ⎤= ⎣ ⎦
38. 38. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.38 ( ) ( )( ) ( ) ( )( )E X t Y t X u Y u⎡ ⎤= + +⎣ ⎦ ( ) ( ) ( ) ( ), , , ,X X Y Y X YR t u R t u R t u R t u= + + + Letting t uτ = − , we have ( ) ( ) ( ) ( ) ( )Z X X Y Y X YR R R R Rτ = τ + τ + τ + τ (3.20a) Taking the Fourier transform, we have ( ) ( ) ( ) ( ) ( )Z X X Y Y X YS f S f S f S f S f= + + + (3.20b) If ( )X t and ( )Y t are uncorrelated, that is, ( ) ( ) ( ) 0X YR X t Y tτ = + τ = then, ( ) ( ) ( )Z X YR R Rτ = τ + τ and ( ) ( ) ( )Z X YS f S f S f= + Hence, we have the superposition of the autocorrelation functions as well as the superposition of power spectral densities. Example 3.11 Let ( )X t be the input to an LTI system with the impulse response ( )h t . If the resulting output is ( )Y t , let us find an expression for ( )Y XS f . ( ) ( ) ( ),Y XR t u E Y t X u⎡ ⎤= ⎣ ⎦ ( ) ( ) ( )1 1 1E h X t d X u ∞ − ∞ ⎡ ⎤ = τ − τ τ⎢ ⎥ ⎢ ⎥⎣ ⎦ ∫ Interchanging the order of expectation and integration, we have ( ) ( ) ( ) ( )1 1 1,Y XR t u h E X t X u d ∞ − ∞ ⎡ ⎤= τ − τ τ⎣ ⎦∫ If ( )X t is WSS, then
39. 39. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.39 ( ) ( ) ( )1 1 1,Y X XR t u h R t u d ∞ − ∞ = τ − − τ τ∫ Letting t u− = τ gives the result ( ) ( ) ( )1 1 1,Y X XR t u h R d ∞ − ∞ = τ τ − τ τ∫ ( ) ( )Xh R= τ ∗ τ (3.21a) That is, the cross-correlation between the output and input is the convolution of the input ACF with the filter impulse response. Taking the Fourier transform, ( ) ( ) ( )Y X XS f S f H f= (3.21b) Eq. 3.21(b) tells us that ( )X t and ( )Y t will have strong cross-correlation in those frequency components where ( ) ( )XS f H f is large. Example 3.12 In the scheme shown (Fig. 3.14), ( )X t and ( )Y t are jointly WSS. Let us compute ( )V ZS f . Fig. 3.14: Figure for the example 3.12 ( ) ( ) ( ),V ZR t u E V t Z u⎡ ⎤= ⎣ ⎦ ( ) ( ) ( ) ( )1 1 1 1 2 2 2 2E h X t d h Y u d ∞ ∞ − ∞ − ∞ ⎧ ⎫⎪ ⎪ = τ − τ τ τ − τ τ⎨ ⎬ ⎪ ⎪⎩ ⎭ ∫ ∫ Interchanging the order of expectation and integration,
40. 40. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.40 ( ) ( ) ( ) ( ) ( )1 1 2 2 1 2 1 2,V ZR t u h h E X t Y u d d ∞ ∞ − ∞ − ∞ ⎡ ⎤= τ τ − τ − τ τ τ⎣ ⎦∫ ∫ As ( )X t and ( )Y t are jointly WSS, we have ( ) ( ) ( ) ( )1 1 2 2 1 2 1 2,V Z X YR t u h h R d d ∞ ∞ − ∞ − ∞ = τ τ τ − τ + τ τ τ∫ ∫ where t uτ = − . That is, ( ) ( ) ( ),V Z V Z V ZR t u R t u R= − = τ It not too difficult to show that ( ) ( ) ( ) ( )1 2V Z X YS f H f H f S f∗ = (3.22) We shall now consider some special cases of Example 3.12. i) Let ( )1H f and ( )2H f of Fig. 3.14 have non-overlapping passbands. Then ( ) ( )1 2 0H f H f∗ = for all f . That is, ( )V ZS f 0≡ ; this implies ( )VZR 0τ ≡ and we have ( )V t and ( )Z t being orthogonal. In addition, either ( )V t or ( )Z t (or both) will be zero (note that ( ) ( )1 0 XV t H m= and ( ) ( )2 0 YZ t H m= ), because atleast one of the quantities, ( )1 0H or ( )2 0H has to be zero. That is, the two random variables, ( )iV t and ( )jZ t obtained from sampling the processes ( )V t at it , and ( )Z t at jt respectively, are uncorrelated. That is, the processes ( )V t and ( )Z t are uncorrelated. ii) Let ( ) ( )X t Y t= and ( )X t is WSS. Then we have the situation shown in Fig. 3.15.
41. 41. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.41 Fig. 3.15: Two LTI systems with a common input Then from Eq. 3.22, we obtain, ( ) ( ) ( ) ( )1 2V Z XS f H f H f S f∗ = (3.23) iii) In the scheme of Fig. 3.15, if ( ) ( ) ( )1 2h t h t h t= = , then we have the familiar result ( ) ( ) ( ) 2 V XS f H f S f= 3.8 Gaussian Process Gaussian processes are of great practical and mathematical significance in the theory of communication. They are of great practical significance because a large number of noise processes encountered in the real world (and that interfere with the communication process) can be characterized as Gaussian processes. They are of great mathematical significance because Gaussian processes possess a neat mathematical structure which makes their analytical treatment quite feasible. Let a random process ( )X t be sampled at time instants 1 2, , ........, nt t t . Let ( ) ( ) ( )1 1 2 2, , ............, n nX t X X t X X t X= = = and X denote the row vector ( )1 2, , ..........., nX X X . The process ( )X t is called Gaussian, if ( )fX x is an n- dimensional joint Gaussian density for every 1n ≥ and ( ) ( )1 2, , ..........., ,nt t t ∈ − ∞ ∞ . The n-dimensional Gaussian PDF is given by
42. 42. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.42 ( ) ( ) ( ) ( )1 1 2 2 1 1 exp 2 2 T x Xn X f C C −⎡ ⎤ = − − −⎢ ⎥ ⎣ ⎦π X Xx x m x m (3.24) where xC is the covariance matrix, denotes its determinant and 1 XC− is its inverse. Xm is the mean vector, namely, ( )1 2, , ..........., nX X X and the superscript T denotes the matrix transpose. The covariance matrix xC is given by 11 12 1 21 22 2 1 2 n n x nnn n C λ λ λ⎛ ⎞ ⎜ ⎟ λ λ λ⎜ ⎟= ⎜ ⎟ ⎜ ⎟⎜ ⎟λλ λ⎝ ⎠ where cov ,i j i jX X⎡ ⎤λ = ⎣ ⎦ ( ) ( )i i j jE X X X X⎡ ⎤= − − ⎣ ⎦ Similarly, ( ) ( )1 1 2 2, , ........,X n nx X x X x X− = − − −x m Specification of a Gaussian process as above corresponds to the first method mentioned earlier. Note that an n-dimensional Gaussian PDF depends only on the means and the covariance quantities of the random variables under consideration. If the mean value of the process is constant and ( ) ( )cov ,i j i jX t X t⎡ ⎤λ = ⎣ ⎦ depends only on i jt t− , then the joint PDF is independent of the time origin. In other words, a WSS Gaussian process is also stationary in a strict sense. To illustrate the use of the matrix notation, let us take an example of a joint Gaussian PDF with 2n = . Example 3.13 1X and 2X are two jointly Gaussian variables with 1 2 0X X= = and 1 2σ = σ = σ . The correlation coefficient between 1X and 2X is ρ . Write the joint PDF of 1X and 2X in i) the matrix form and ii) the expanded form.
43. 43. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.43 i) As 2 11 22λ = λ = σ and 2 12 21λ = λ = ρσ , we have ( ) 2 2 4 2 2 2 , 1x XC C ⎡ ⎤σ ρσ = = σ − ρ⎢ ⎥ ρσ σ⎣ ⎦ ( ) 2 2 1 2 24 2 1 1 XC− ⎡ ⎤σ − ρσ = ⎢ ⎥ − ρσ σσ − ρ ⎣ ⎦ ( )2 2 11 11 − ρ⎡ ⎤ = ⎢ ⎥− ρσ − ρ ⎣ ⎦ Therefore, ( ) ( ) ( )1 2 1 , 1 2 1 22 22 2 2 11 1 , exp 12 12 1 X X x f x x x x x ⎧ ⎫− ρ ⎛ ⎞⎡ ⎤−⎪ ⎪ = ⎨ ⎬⎜ ⎟⎢ ⎥− ρσ − ρπσ − ρ ⎣ ⎦ ⎝ ⎠⎪ ⎪⎩ ⎭ ii) Taking the matrix products in the exponent above, we have the expanded result, namely, ( ) ( )1 2 2 2 1 1 2 2 , 1 2 1 22 22 2 21 , exp , , 2 12 1 X X x x x x f x x x x ⎧ ⎫− ρ +⎪ ⎪ = − − ∞ < < ∞⎨ ⎬ σ − ρπσ − ρ ⎪ ⎪⎩ ⎭ This is the same as the bivariate Gaussian PDF of Chapter 2, section 6 with 1x x= and 2x y= , and 0X Ym m= = , and X Yσ = σ = σ . Example 3.14 ( )X t is a Gaussian process with ( ) 3Xm t = and ( ) 1 20.2 0.2 1 2, 4 4 t t XC t t e e − − − τ = = . Let us find, in terms of ( )Q , a) ( )5 2P X⎡ ⎤≤⎣ ⎦ b) ( ) ( )8 5 1P X X⎡ ⎤− ≤⎣ ⎦
44. 44. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.44 a) Let Y be the random variable obtained by sampling ( )X t at 5t = . Y is Gaussian with the mean value 3, and the variance ( )0 4XC= = . That is, Y is ( )3, 4N . [ ] ( ) 3 1 2 0.5 2 2 Y P Y P Q −⎡ ⎤ ≤ = ≤ − =⎢ ⎥ ⎣ ⎦ b) Let ( ) ( )8 5Z X X= − and ( )8Y X= , and ( )5W X= . Note that Z Y W= − is Gaussian. We have 0Z = and 2 2 2 ,2Z Y W Y W Y Wσ = σ + σ − ρ σ σ [ ]2 2 2 cov ,Y W Y W= σ + σ − 0.2 3 4 4 2 4 e− × = + − × ( )0.6 8 1 3.608e− = − = [ ] [ ] 1 1 2 0 1 2 1 2 P Z P Z P Z ⎧ ⎫ ⎡ ⎤≤ = ≤ ≤ = − >⎨ ⎬⎣ ⎦ ⎩ ⎭ ( ) 1 1 2 1 2 0.52 3.6 3.6 Z P Q ⎡ ⎤ = − > = −⎢ ⎥ ⎣ ⎦
45. 45. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.45 We shall now state (without proof) some of the important properties of n jointly Gaussian random variables, ( )1 2, , ........, nX X X=X . (These properties are generalizations of the properties mentioned for the bivariate case in Chapter 2). P1) If ( )1 2, , ........, nX X X=X are jointly Gaussian, then any subset of them are jointly Gaussian. P2) The iX ’s are statistically independent if their covariance matrix is diagonal; that is, 2 i j i i jλ = σ δ where Exercise 3.9 Let X be a zero-mean Gaussian vector with four components, 1 2, ,X X 3 4andX X . We can show that 1 2 3 4 1 2 3 4 1 3 2 4 1 4 2 3X X X X X X X X X X X X X X X X= ⋅ + ⋅ + ⋅ The above formula can also be used to compute the moments such as 4 1X , 2 2 1 2X X , etc. 4 1X can be computed as = = σX X X X X4 4 1 1 1 1 1 13 Similarly, ( ) 2 2 2 2 2 1 2 1 1 2 2 1 2 1 22X X X X X X X X= = σ σ + A zero mean stationary Gaussian process is sampled at 1t t= and 2t . Let 1X and 2X denote the corresponding random variables. The covariance matrix of 1X and 2X is 2 1 1 2 XC ⎡ ⎤ = ⎢ ⎥ ⎣ ⎦ Show that 2 2 1 2 6E X X⎡ ⎤ =⎣ ⎦
46. 46. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.46 1, 0, i j i j i j =⎧ δ = ⎨ ≠⎩ P3) Let ( )1 2, , .........., nY Y Y=Y be a set of vectors obtained from ( )1 2, , .........., nX X X=X by means of the linear transformation T T T A= +Y X a where A is any n n× matrix and ( )1 2, , .........., na a a=a is a vector of constants { }ia . If X is jointly Gaussian, then so is Y . As a consequence of P3) above, we find that if a Gaussian process ( )X t is input to a linear system, then the output ( )Y t is also Gaussian process. We shall make use of this result in developing the properties of narrowband noise. 3.9 Electrical Noise Electronic communication systems are made up of circuit elements such as R , L and C , and devices like diodes, transistors, etc. All these components give rise to what is known as internal circuit noise. It is this noise that sets the fundamental limits on communication of acceptable quality. Two of the important internal circuit noise varieties are: i) Thermal noise ii) Shot noise Exercise 3.10 Let T T T A= +Y X a where the notation is from P3) above. Show that T Y XC AC A=
47. 47. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.47 Historically, Johnson and Nyquist first studied thermal noise in metallic resistors; hence it is also known as Johnson noise or resistance noise. The random motion of the free electrons in a conductor caused by thermal agitation gives rise to a voltage ( )V t at the open ends of the conductor and is present whether or not an electrical field is applied. Consistent with the central limit theorem, ( )V t is a Gaussian process with zero mean and the variance is a function of R and T , where R is the value of the resistance and T is the temperature of R . It has also been found that the spectral density of ( )V t ( )( )2 in Volts Hz , denoted ( )VS f is essentially constant for 12 10f ≤ Hz, if T is 290 K or 63 F (290 K is taken as the standard room temperature). 12 10 Hz is already in the infrared region of EM spectrum. This constant value of ( )VS f is given by ( ) 2 2VS f R kT V Hz= (3.25) where T : the temperature of R , in degrees Kelvin ( )K C 273= + k : Boltzman’s constant 23 1.37 10 Joules K− = × . It is to be remembered that Eq. 3.25 is valid only upto a certain frequency limit. However this limit is much, much higher than the frequency range of interest to us. If this open circuit voltage is measured with the help of a true RMS voltmeter of bandwidth B (frequency range: toB B− ), then the reading on the instrument would be 2 2 4R kT B R kT B V⋅ = . Thermal noise sources are also characterized in terms of available noise PSD. Def. 3.9: Available noise PSD is the maximum PSD that can be delivered by a source.
48. 48. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.48 Let us treat the resistor to be noise free. But it is in series with a noise source with ( ) 2VS f R kT= . In other words, we have a noise source with the source resistance R (Fig. 3.16(a)). Fig. 3.16: (a) Resistor as noise source (b) The noise source driving a load We know that the maximum power is transferred to the load, when the load is matched to the source impedance. That is, the required load resistance is R (Fig. 3.16(b)). The transfer function of this voltage divider network is 1 2 i.e. R R R ⎛ ⎞ ⎜ ⎟ +⎝ ⎠ . Hence, available ( ) ( ) 2VS f PSD H f R = 2 Watts Hz 4 2 R kT kT R = = (3.26) It is to be noted that available PSD does not depend on R , though the noise voltage is produced by R . Because of Eq. 3.26, the available power in a bandwidth of B Hz is, 2 2 a kT P B kT B= ⋅ = (3.27) In many solid state devices (and of course, in vacuum tubes!) there exists a noise current mechanism called shot noise. In 1918, Schottky carried out the first theoretical study of the fluctuations in the anode current of a temperature
49. 49. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.49 limited vacuum tube diode (This has been termed as shot noise). He showed that at frequencies well below the reciprocal of the electron transit time (which extends upto a few Giga Hz), the spectral density of the mean square noise current due to the randomness of emission of electrons from the cathode is given by, ( ) ( ) 2 2 Amp HzIS f qI= where q is the electronic charge and I is the average anode current. (Note that units of spectral density could be any one of the three, namely, (a) Watts Hz , (b) ( ) 2 Volts Hz and (c) ( ) 2 Amp Hz . The circuit of Fig. 3.16(a) could be drawn with ( )IS f for the source quantity. Then, we will have the Norton equivalent circuit with ( ) 2 2 2 I R kT kT S f R R = = in parallel with the resistance R .) Semiconductor diodes, BJTs and JFETs have sources of shot noise in them. Shot noise (which is non-thermal in nature), occurs whenever charged particles cross a potential barrier. Here, we have an applied potential and there is an average flow in some direction. However, there are going to be fluctuations about this average flow and it is these fluctuations that contribute a noise with a very wide spectrum. In p-n junction devices, fluctuations of current occurs because of (i) randomness of the transit time across space charge region separating p and n regions, (ii) randomness in the generation and recombination of electron-hole pairs, and (iii) randomness in the number of charged particles that diffuse etc. Schottky’s result also holds for the semiconductor diode. The current spectral density of shot noise in a p-n junction diode is given by ( ) ( )2 2I SS f q I I= + (3.28) where I is the net DC current and SI is the reverse saturation current.
50. 50. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.50 A BJT has two semiconductor junctions and hence two sources of shot noise. In addition, it contributes to thermal noise because of internal ohmic resistance (such as base resistance). A JFET has a reverse biased junction between the gate terminal and the semiconductor channel from the source to the drain. Hence, we have the gate shot noise and the channel thermal noise in a JFET. (Note that gate shot noise could get amplified when the device is used in a circuit.) 3.9.1 White noise Eq. 3.25 and Eq. 3.28 indicate that we have noise sources with a flat spectral density with frequencies extending upto the infrared region of the EM spectrum. The concept of white noise is an idealization of the above. Any noise quantity (thermal or non-thermal) which has a fiat power spectrum (that is, it contains all frequency components in equal proportion) for f− ∞ < < ∞ is called white noise, in analogy with white light. We denote the PSD of a white noise process ( )W t as ( ) 0 watts Hz 2 W N S f = (3.29) where the factor 1 2 has been included to indicate that half the power is associated with the positive frequencies and half with negative frequencies. In addition to a fiat spectrum, if the process happens to be Gaussian, we describe it as white Gaussian noise. Note that white and Gaussian are two different attributes. White noise need not be Gaussian noise, nor Gaussian noise need be white. Only when "whiteness" together with "Gaussianity" simultaneously exists, the process is qualified as White Gaussian Noise (WGN) process.
51. 51. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.51 White noise, whether Gaussian or not, must be fictitious (as is the case with everything that is "ideal") because its total mean power is infinity. The utility of the concept of white noise stems from the fact that such a noise, when passed through a linear filter for which ( ) 2 H f ∞ − ∞ < ∞∫ (3.30) the filter output is a stationary zero mean noise process ( )N t that is meaningful (Note that white noise process, by definition, is a zero mean process). The condition implied by Eq.3.30 is not too stringent as we invariably deal with systems which are essentially band limited and have finite value for ( )H f within this band. In so far as the power spectrum at the output is concerned, it makes little difference how the input power spectrum behaves outside of the pass band. Hence, if the input noise spectrum is flat within the pass band of the system, we might as well treat it to be white as this does not affect the calculation of output noise power. However, assuming the input as ‘white’ will simplify the calculations. As ( ) 0 2 W N S f = , we have, for the ACF of white noise ( ) ( )0 2 W N R τ = δ τ , (3.31) as shown in Fig. 3.17. This is again a nonphysical but useful result.
52. 52. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.52 Fig.3.17: Characterization of white noise: a) Power spectral density b) Auto correlation function Eq. 3.31 implies that any two samples of white noise, no matter how closely together in time they are taken, are uncorrelated. (Note that ( ) 0WR τ = for 0τ ≠ ). In addition, if, the noise process is Gaussian, we find that any two samples of WGN are statistically independent. In a sense, WGN represents the ultimate in randomness! Imagine that white noise is being displayed on an oscilloscope. Though the waveforms on successive sweeps are different, the display on the oscilloscope always appears to be the same, no matter what sweep speed is used. In the case of display of a deterministic waveform (such as a sinusoid) changing the time-base makes the waveform to ‘expand’ or ‘contract’. In the case of white noise, however, the waveform changes randomly from one instant to the next, no matter what time scale is used and as such the display on the scope appears to be the same for all time instants. If white noise drives a speaker, it
53. 53. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.53 should sound monotonous because the waveform driving the speaker appears to be the same for all time instants. As mentioned earlier, white noise is fictitious and cannot be generated in the laboratory. However, it is possible to generate what is known as Band Limited White Noise (BLWN) which has a flat power spectral density for f W≤ , where W is finite. (BLWN sources are commercially available. The cost of the instrument depends on the required bandwidth, power level, etc.) We can give partial demonstration (audio-visual) of the properties of white noise with the help of these sources. We will begin with the audio. By clicking on the speaker symbol, you will listen to the speaker output when it is driven by a BLWN source with the frequency range upto 110 kHz. (As the speaker response is limited only upto 15 kHz, the input to the speaker, for all practical purposes, is white.) We now show some flash animation pictures of the spectral density and time waveforms of BLWN. 1. Picture 1 is the display put out by a spectrum analyzer when it is fed with a BLWN signal, band limited to 6 MHz. As can be seen from the display, the spectrum is essentially constant upto 6 MHz and falls by 40 to 45 dB at about 7MHz and beyond. 2. Picture 2 is time domain waveform (as seen on an oscilloscope) when the 6 MHz, BLWN signal is the input to the oscilloscope. Four sweep speeds have been provided for you to observe the waveform. These speeds are: 100 µsec/div, 200 µsec/div, 500 µsec/div and 50 µsec/div. As you switch from 100 µsec/div to 200 µsec/div to 500 µsec/div, you will find that the
54. 54. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.54 display is just about the same, whereas when you switch from 500 µsec/div to 50 µsec/div, there is a change, especially in the display level. Consider a 500 kHz sine wave being displayed on an oscilloscope whose sweep is set to 50 µsec/div. This will result in 25 cycles per division which implies every cycle will be seen like a vertical line of appropriate height. As the frequency increases, the display essentially becomes a band of fluorescence enclosed between two lines. (The spikes in the display are due to large amplitudes in noise voltage which occur with some non-zero probability.) Now consider a 20 kHz sine wave being displayed with the same sweep speed, namely, 50 µsec/div. This will result in 1 cycle/div which implies we can see the fine structure of the waveform. If the sweep speed were to be 500 µsec/div, then a 20 kHz time will result in 10 cycles/div, which implies that fine structure will not be seen clearly. Hence when we observe BLWN, band limited to 6 MHz, on an oscilloscope with a sweep speed of 50 µsec/div, fine structure of the low frequency components could interfere with the constant envelope display of the higher frequency components, thereby causing some reduction in the envelope level. 3. Picture 3 is the display from the spectrum analyzer when it is fed with a BLWN signal, band limited to 50 MHz. As can be seen from the display, PSD is essentially constant upto 50 MHz and then starts falling, going 40 dB down by about 150 MHz. 4. Picture 4 is the time domain signal, as seen on an oscilloscope, when the input is the 50 MHz wide, BLWN signal. You have again the choice of the same four sweep rates. This time you will observe that when you switch from 500 µsec/div to 50 µsec/div, the
55. 55. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.55 change is much less. This is because, this signal has much wider spectrum and the power in the frequency range of 100f ≤ kHz is 0.002P where P is the total power of the BLWN signal. From the above, it is clear that as the BLWN tends towards white noise, variations in the time waveform keep reducing, resulting in a steady picture on the oscilloscope no matter what sweep speed is used for the display. Example 3.15: (White noise through an ILPF) White Gaussian noise with the PSD of 0 2 N is applied as input to an ideal LPF of bandwidth B . Find the ACF of the output process. Let Y be the random variable obtained from sampling the output process at 1t = sec. Let us find ( )Yf y . Let ( )N t denote the output noise process when the WGN process ( )W t is the input. Then, ( ) 0 , 2 0 , N N B f B S f otherwise ⎧ − ≤ ≤⎪ = ⎨ ⎪⎩ Taking the inverse Fourier transform of ( )NS f , we have ( ) ( )0 sin 2NR N B c Bτ = τ A plot of ( )NR τ is given in Fig. 3.18.
56. 56. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.56 Fig 3.18: ( )NR τ of example 3.15 The filter output ( )N t is a stationary Gaussian process. Hence the PDF is independent of the sampling time. As the variable Y is Gaussian, what we need is the mean value and the variance of Y . Evidently [ ] 0E Y = and ( )2 2 00Y YY R N Bσ = = = . Hence Y is ( )00,N N B . Note that ACF passes through zeros at 2 n B τ = where 1, 2, .....n = ± ± . Hence any two random variables obtained by sampling the output process at times 1t and 2t such that 1 2t t− is multiple of 1 2B , are going to be statistically independent. Example 3.16: (White Noise through an RC-LPF) Let ( )W t be input to an RC-LPF. Let us find the ACF of the output ( )N t . If X and Y are two random variables obtained from sampling ( )N t with a separation of 0.1 sec, let us find X Yρ .
57. 57. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.57 The transfer function of the RC LPF is given by ( ) 1 1 2 H f j f RC = + π . Therefore ( ) ( ) 0 2 2 1 2 N N S f f RC = + π , and ( ) 0 exp 4 N N R RC RC ⎛ ⎞− τ τ = ⎜ ⎟ ⎝ ⎠ [ ] 2 X Y X Y X Y E XY E X λ ρ = = σ σ ⎡ ⎤⎣ ⎦ (Note that ( ) 0N t = and X Yσ = σ ). [ ] ( ) 0.1 secNE XY R τ = = τ ( )2 0 0 4 N N E X R RCτ = ⎡ ⎤ = τ =⎣ ⎦ Hence, ( )0.1 RC X Y e − ρ = Exercise 3.11 ( )X t is a zero mean Gaussian process with ( ) 2 1 1 XR τ = + τ . Let ( ) ( )Y t X t= where ( )X t is the Hilbert transform of ( )X t . The process ( )X t and ( )Y t are sampled at 1t = and 2t = sec. Let the corresponding random variables be denoted by ( )1 2,X X and ( )1 2,Y Y respectively. a) Write the covariance matrix of the four variables 1 2,X X 1 2andY Y . b) Find the joint PDF of 2 ,X 1 2andY Y .
58. 58. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.58 Let 0τ denote the de-correlation time where 0τ is defined such that if 0τ > τ , then ( ) ( )0.01 0N NR Rτ ≤ . Then for the RC-LPF, 0 4.61RCτ = . That is, if the output process ( )N t is sampled at 1t and 2t such that 1 2 4.61t t RC− ≥ , then the random variables ( )1N t and ( )2N t will be Exercise 3.12 The impulse response of a filter (LTI system) is given by ( ) ( ) ( )t h t t e u t− α = δ − α where α is a positive constant. If the input to the filter is white Gaussian noise with the PSD of 0 2 N watts/Hz, find a) the output PSD b) Show that the ACF of the output is ( )0 2 2 N e − α τα⎡ ⎤ δ τ −⎢ ⎥ ⎣ ⎦ Exercise 3.13 White Gaussian noise process is applied as input to a zero-order-hold circuit with a delay of T sec. The output of the ZOH circuit is sampled at t T= . Let Y be the corresponding random variable. Find ( )Yf y . Exercise 3.14 Noise from a 10 k Ω resistor at room temperature is passed through an ILPF of bandwidth 2.5 MHz. The filtered noise is sampled every microsecond. Denoting the random variables corresponding to the two adjacent samples as 1Y and 2Y , obtain the expression for the joint PDF of 1Y and 2Y .
59. 59. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.59 essentially uncorrelated. If ( )N t happens to be a Gaussian process, then ( )1N t and ( )2N t will be, for all practical purposes, independent. In example 3.15, we found that the average output noise power is equal to 0N B where B is the bandwidth of the ILPF. Similarly, in the case of example 3.16, we find the average output noise power being equal to 0 4 N RC ⎛ ⎞ ⎜ ⎟ ⎝ ⎠ where 1 2 RCπ is the 3-dB bandwidth of the RC-LPF. That is, in both the cases, we find that the average output noise power is proportional to some measure of the bandwidth. We may generalize this statement to include all types of low pass filters by defining the noise equivalent bandwidth as follows. Suppose we have a source of white noise with the PSD ( ) 0 2 W N S f = connected to an arbitrary low pass filter of transfer function ( )H f . The resulting average output noise power N is given by, ( ) 20 2 N N H f d f ∞ − ∞ = ∫ ( ) 2 0 0 N H f d f ∞ = ∫ Consider next the same source of white noise connected to the input of an ILPF of zero frequency response ( )0H and bandwidth B . In this case, the average output noise power is, ( )2 0' 0N N BH= . Def. 3.10: The noise equivalent bandwidth of an arbitrary filter is defined as the bandwidth of an ideal rectangular filter that would pass as much white noise
60. 60. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.60 power as the filter in question and has the same maximum gain as the filter under consideration. Let NB be the value of B such that 'N N= . Then NB , the noise equivalent bandwidth of ( )H f , is given by ( ) ( ) 2 0 2 0 N H f d f B H ∞ = ∫ (3.32) The notion of equivalent noise bandwidth is illustrated in Fig. 3.19. Fig. 3.19: Pictorial representation of noise equivalent bandwidth The advantage of the noise equivalent bandwidth is that if NB is known, we can simply calculate the output noise power without worrying about the actual shape of ( )H f . The definition of noise equivalent bandwidth can be extended to a band pass filter. Example 3.17 Compute the noise equivalent bandwidth of the RC-LPF. We have ( )0 1H = . Hence, ( ) 2 0 1 41 2 N d f B RCf RC ∞ = = + π ∫
61. 61. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.61 3.10 Narrowband Noise The communication signals that are of interest to us are generally NarrowBand BandPass (NBBP) signals. That is, their spectrum is concentrated around some (nominal) centre frequency, say cf , with the signal bandwidth usually being much smaller compared to cf . Hence the receiver meant for such signals usually consists of a cascade of narrowband filters; this means that even if the noise process at the input to the receiver is broad-band (may even considered to be white) the noise that may be present at the various stages of a receiver is essentially narrowband in nature. We shall now develop the statistical characterization of such NarrowBand Noise (NBN) processes. Let ( )N t denote the noise process at the output of a narrowband filter produced in response to a white noise process, ( )W t , at the input. ( )WS f is taken as 0 2 N . If ( )H f denotes the filter transfer function, we have ( ) ( ) 2 0 2 N N S f H f= (3.33) In fact, any narrowband noise encountered in practice could be modeled as the output of a suitable filter. In Fig. 3.20, we show the waveforms of experimentally generated NBBP noise. This noise process is generated by passing the BLWN (with a flat spectrum upto 110 kHz) through a NBBP filter, whose magnitude characteristic is shown in Fig. 3.21. This filter has a centre frequency of 101 kHz and a 3-dB bandwidth of less than 3 kHz.
62. 62. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.62 Fig. 3.20: Some oscilloscope displays of narrowband noise X-axis: time Y-axis: voltage
63. 63. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.63 The magnitude response of the filter is obtained by sweeping the filter input from 87 kHz to 112 kHz. Fig. 3.21: Frequency response of the filter used to generate NBN Plot in Fig. 3.20(a) gives us the impression that it is a 101 kHz sinusoid with slowly changing envelope. This is only partially correct. Waveforms at (b) and (c) are expanded versions of a part of the waveform at (a). From (b) and (c), it is clear that zero crossings are not uniform. In Fig. 3.20(c), the cycle of the waveform shown in green fits almost into the space between two adjacent vertical lines of the graticule, whereas for the cycle shown in red, there is a clear offset. Hence the proper time-domain description of a NBBP signal would be: it is a sinusoid undergoing slow amplitude and phase variations. (This will be justified later on by expressing the NBBP noise signal in terms of its envelope and phase.) We shall now develop two representations for the NBBP noise signal. These are (a) canonical (also called in-phase and quadrature component) representation and (b) Envelope and Phase representation.
64. 64. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.64 3.10.1 Representation of narrowband noise a) Canonical representation Let ( )n t represent a sample function of a NBBP noise process ( )N t , and ( )pen t and ( )c en t , its pre-envelope and complex envelope respectively. We will assume cf to be the (nominal) centre frequency of the noise process. Then, we can write: ( ) ( ) ( )pen t n t j n t= + and (3.34) ( ) ( ) ( )exp 2c e pe cn t n t j f t= − π (3.35) where ( )n t is the Hilbert transform of ( )n t . The complex envelope ( )c en t itself can be expressed as ( ) ( ) ( )c e c sn t n t j n t= + (3.36) With the help of Eq. 3.34 to 3.36, it is easy to show, ( ) ( ) ( ) ( ) ( )cos 2 sin 2c c cn t n t f t n t f t= π + π (3.37) ( ) ( ) ( ) ( ) ( )cos 2 sin 2s c cn t n t f t n t f t= π − π (3.38) As ( ) ( ) 2 Re cj f t c en t n t e π ⎡ ⎤= ⎣ ⎦ ( ) ( ){ }2 Re cj f t c sn t j n t e π ⎡ ⎤= +⎣ ⎦ We have, ( ) ( ) ( ) ( ) ( )cos 2 sin 2c c s cn t n t f t n t f t= π − π (3.39) As in the deterministic case, we call ( )cn t the in-phase component and ( )sn t the quadrature component of ( )n t . As Eq. 3.39 is valid for any sample function ( )n t of ( )N t , we shall write ( ) ( ) ( ) ( ) ( )cos 2 sin 2c c s cN t N t f t N t f t= π − π (3.40a)
65. 65. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.65 Eq. 3.40(a) is referred to as the canonical representation of ( )N t . ( )cN t and ( )sN t are low pass random processes; ( )cn t and ( )sn t are sample functions of ( )cN t and ( )sN t respectively. b) Envelope and phase representation Let us write ( )n t as ( ) ( ) ( )cos 2 cn t r t f t t⎡ ⎤= π + ψ⎣ ⎦ (3.41a) ( ) ( ) ( ) ( ) ( )cos cos 2 sin sin 2c cr t t f t t f t⎡ ⎤= ψ π − ψ π⎣ ⎦ (3.41b) Comparing Eq. 3.41(b) with Eq. 3.39, we find that ( ) ( ) ( )coscn t r t t= ψ ( ) ( ) ( )sinsn t r t t= ψ or ( ) ( ) ( ) 1 2 2 2 c sr t n t n t⎡ ⎤= +⎣ ⎦ (3.42a) and ( ) ( ) ( ) tan s c n t t arc n t ⎡ ⎤ ψ = ⎢ ⎥ ⎢ ⎥⎣ ⎦ (3.42b) ( )r t is the envelope of ( )n t and ( )tψ its phase. Generalizing, we have ( ) ( ) ( )( )cos 2 cN t R t f t t⎡ ⎤= π + Ψ⎣ ⎦ (3.43) where ( )R t is the envelope process and ( )tΨ is the phase process. Eq. 3.43 justifies the statement that the NBN waveform exhibits both amplitude and phase variations. Exercise 3.15 Show that ( ) ( ) ( ) ( ) ( )sin 2 cos 2c c s cN t N t f t N t f t= π + π (3.40b)
66. 66. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.66 3.10.2 Properties of narrowband noise We shall now state some of the important properties of NBN. (For proofs, refer to Appendix A3.1.) P1) If ( )N t is zero mean, then so are ( )cN t and ( )sN t . P2) If ( )N t is a Gaussian process, then ( )cN t and ( )sN t are jointly Gaussian. P3) If ( )N t is WSS, then ( )cN t and ( )sN t are WSS. P4) Both ( )cN t and ( )sN t have the same PSD which is related to ( )NS f of the original narrowband noise as follows: ( ) ( ) ( ) ( ) , 0 ,c s N c N c N N S f f S f f B f B S f S f elsewhere ⎧ − + + − ≤ ≤⎪ = = ⎨ ⎪⎩ where it is assumed that ( )NS f occupies the frequency interval c cf B f f B− ≤ ≤ + and cf B> . P5) If the narrowband noise ( )N t is zero mean, then ( )cN t and ( )sN t have the same variance as the variance of ( )N t . P6) The cross-spectral densities of the quadrature components of narrowband noise are purely imaginary, as shown by ( ) ( ) ( ) ( ) , 0 , c s s c N c N c N N N N j S f f S f f B f B S f S f elsewhere ⎧ ⎡ ⎤+ − − − ≤ ≤⎪ ⎣ ⎦= − = ⎨ ⎪⎩ P7) If ( )N t is zero-mean Gaussian and its PSD, ( )NS f is locally symmetric about cf± , then ( )cN t and ( )sN t are statistically independent. Property P7) implies that if ( )NS f is locally symmetric about cf± , then ( )c sN NR τ is zero for all τ . Since ( )cN t and ( )sN t are jointly Gaussian, they become independent. However, it is easy to see that ( )0 0c sN NR = whether or not there is local symmetry. In other words the variables ( )1cN t and ( )1sN t , for any sampling instant 1t , are always independent.
67. 67. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.67 Note: Given the spectrum of an arbitrary band-pass signal, we are free to choose any frequency cf as the (nominal) centre frequency. The spectral shape ( )cNS f and ( )sNS f will depend on the cf chosen. As such, the canonical representation of a narrowband signal is not unique. For example, for the narrowband spectra shown in Fig. 3.22, if 1f is chosen as the representative carrier frequency, then the noise spectrum is 12 B wide, whereas if 2f (which is actually the mid- frequency of the given band) is chosen as the representative carrier frequency, then the width of the spectrum is 22 B . Note for the ( )NS f of Fig. 3.22, it is not possible for us to choose an cf such that ( )NS f exhibits local symmetry with respect to it. Fig. 3.22: Narrowband noise spectrum with two different centre frequencies Example 3.18 For the narrowband noise spectrum ( )NS f shown in Fig. 3.23, sketch ( )cNS f for the two cases, namely a) 10cf k Hz= and b) 11cf k Hz= . c) What is the variance ( )cN t ?
68. 68. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.68 Fig. 3.23: ( )NS f for the example 3.18 a) From P4), we have, ( ) ( ) ( ) , 0 ,c N c N c N S f f S f f B f B S f elsewhere ⎧ − + + − ≤ ≤⎪ = ⎨ ⎪⎩ Using 10cf k Hz= , and plotting ( )N cS f f− and ( )N cS f f+ , we obtain Fig. 3.24. Fig. 3.24: Shifted spectra: (a) ( )N cS f f+ and (b) ( )N cS f f− Taking 2B k Hz= and extracting the relevant part of ( )N cS f f+ and ( )N cS f f− , we have ( )cNS f as shown in Fig. 3.25.
69. 69. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.69 Fig. 3.25: ( )cNS f with 10cf k Hz= b) By repeating the above procedure, we obtain ( )cNS f (the solid line) shown in Fig. 3.26. Fig. 3.26: ( )cNS f with 11cf k Hz= c) ( )2 2 1.0cN N NS f d f Watt ∞ − ∞ σ = σ = =∫
70. 70. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.70 Exercise 3.16 Assuming ( )N t to be WSS and using Eq. 3.40(a), establish ( ) ( ) ( ) ( ) ( )τ = τ π τ − τ π τc s cN N c N N cR R f R fcos 2 sin 2 (3.44) Exercise 3.17 Let ( )N t represent a narrowband, zero-mean Gaussian process with ( ) 0 , 2 0 , c c N N f B f f B S f otherwise ⎧ − ≤ ≤ +⎪ = ⎨ ⎪⎩ Let X and Y be two random variables obtained by sampling ( )cN t and ( )cd N t d t at 1t t= , where ( )cN t is the in phase component of ( )N t . a) Show that X and Y are independent. b) Develop the expression for ( ), ,X Yf x y . Exercise 3.18 Let ( )N t represent a NBN process with the PSD shown in Fig. 3.27 below. Fig. 3.27: Figure for exercise 3.18 Let ( ) ( ) ( ) ( ) ( )cos sinc c s cN t N t t N t t= ω − ω with 50cf = kHz. Show that ( ) ( ) ( )3 32 sin 10 sin 3 10 3s cN NR cτ = τ π τ .
71. 71. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.71 We shall now establish a relation between ( )NR τ and ( )c eNR τ , where ( )c eNR τ evidently stands for the ACF of the complex envelope of the narrowband noise. For complex signals, such as ( )c eN t , we define its ACF as ( ) ( ) ( ),c eN c e c eR t t E N t N t∗ ⎡ ⎤+ τ = + τ⎣ ⎦ ( ) ( )( ) ( ) ( )( )c s c sE N t j N t N t j N t⎡ ⎤= + τ + + τ −⎣ ⎦ ( ) ( ) ( ) ( )c s s c c sN N N N N NR R j R j R= τ + τ + τ − τ But ( ) ( )c sN NR Rτ = τ (Eq. A3.1.7) and ( ) ( )s c c sN N N NR Rτ = − τ (Property of cross correlation) ( )c sN NR= − τ The last equality follows from Eq. A3.1.8. Hence, ( ) ( ) ( ) ( )( ), 2c e ce c s cN N N N NR t t R R j R+ τ = τ = τ + τ . From Eq. 3.44, we have ( ) ( ) 21 Re 2 c c e j f N NR R e+ π τ ⎡ ⎤τ = τ ⎣ ⎦ ( ) ( )2 21 4 c c c e c e j f j f N NR e R eπ τ − π τ∗⎡ ⎤= τ + τ ⎣ ⎦ (3.45) Taking the Fourier transform of Eq. 3.45, we obtain ( ) ( ) ( )∗⎡ ⎤= − + − − ⎣ ⎦ 1 4 c e c eN N c N cS f S f f S f f (3.46) Note: For complex signals, the ACF is conjugate symmetric; that is, if ( )X t represents a complex random process that is WSS, then ( ) ( )X XR R∗ − τ = τ . The PSD ( ) ( )X XS f F R⎡ ⎤= τ⎣ ⎦ is real, nonnegative but not an even function of frequency.
72. 72. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.72 3.10.3 PDF of the envelope of narrowband noise From Eq. 3.43, we have, ( ) ( ) ( )( )cos 2 cN t R t f t t⎡ ⎤= π + Ψ⎣ ⎦ with ( ) ( ) ( )( )coscN t R t t= Ψ (3.47a) and ( ) ( ) ( )( )sinsN t R t t= Ψ (3.47b) That is, ( ) ( ) ( ) 1 2 2 2 c sR t N t N t⎡ ⎤= +⎣ ⎦ (3.48a) ( ) ( ) ( ) 1 tan s c N t t N t − ⎡ ⎤ Ψ = ⎢ ⎥ ⎢ ⎥⎣ ⎦ (3.48b) Our interest is the PDF of the random variable ( )1R t , for any arbitrary sampling instant 1t t= . Let cN and sN represent the random variables obtained from sampling ( )cN t and ( )sN t at any time 1t t= . Assuming N(t) to be a Gaussian process, we have cN and sN as zero mean, independent Gaussian variables with variance 2 σ where ( )2 NS f d f ∞ − ∞ σ = ∫ . Hence, ( ) 2 2 2 2 1 , exp 2 2c s c s N N c s n n f n n ⎡ ⎤+ = −⎢ ⎥ πσ σ⎣ ⎦ For convenience, let ( )1R t R= and ( )1tΨ = Ψ . Then, coscN R= Ψ and sinsN R= Ψ and the Jacobian of the transformation is, − ψ ψ⎡ ⎤ ⎢ ⎥= =− ψ ψ⎢ ⎥ ⎣ ⎦ 1 cos sin sin cosJ r r r
73. 73. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.73 Therefore, ( ) 2 2 2 , exp , 0, 0 2 , 2 2 0 , R r r r f r otherwise Ψ ⎧ ⎛ ⎞ − ≥ ≤ ψ < π⎪ ⎜ ⎟ ψ = πσ σ⎨ ⎝ ⎠ ⎪ ⎩ ( ) ( ) 2 , 0 ,R Rf r f r d π Ψ= ψ ψ∫ It is easy to verify that ( ) 2 2 2 exp , 0 2 0 , R r r r f r otherwise ⎧ ⎛ ⎞ − ≥⎪ ⎜ ⎟ = σ σ⎨ ⎝ ⎠ ⎪ ⎩ (3.49) Similarly, it can be shown that ( ) 1 , 0 2 2 0 , f otherwise Ψ ⎧ ≤ ψ < π⎪ πψ = ⎨ ⎪ ⎩ (3.50) As ( ) ( ) ( ), ,R Rf r f r fψ Ψψ = ψ , we have R and Ψ as independent variables. The PDF given by Eq. 3.49 is the Rayleigh density which was introduced in Chapter 2. From the above discussion, we have the useful result, namely, the envelope of narrowband Gaussian noise is Rayleigh distributed. Let us make a normalized plot of the Rayleigh PDF by defining a new random variable V as R V = σ (transformation by a multiplicative constant). Then, ( ) 2 exp , 0 2 0 , V v v v f v otherwise ⎧ ⎛ ⎞ − ≥⎪ ⎜ ⎟ = ⎨ ⎝ ⎠ ⎪ ⎩ ( )Vf v is plotted in Fig. 3.28.
74. 74. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.74 Fig. 3.28: Normalized Rayleigh PDF The peak value of the PDF occurs at 1v = and ( )1 0.607Vf = . 3.10.4 Sine wave plus narrowband noise Let a random process ( )X t be given by ( ) ( ) ( )cos 2 cX t A f t N t= π + (3.51) where A and cf are constants, ( )N t represents the narrowband noise process whose centre frequency is taken as cf . Our interest is to develop an expression for the PDF of the envelope of ( )X t . Using the canonical form for ( )N t , Eq. 3.51 can be written as ( ) ( ) ( ) ( ) ( ) ( )cos 2 cos 2 sin 2c c c s cX t A f t N t f t N t f t= π + π − π Let ( ) ( )c c ' N t A N t= + . Assume ( )N t to be a Gaussian process with zero mean and variance 2 σ . Then, for any sampling instant 1t t= , let c ' N denote the random variable ( )1c ' N t and let sN denote the random variable ( )1sN t . From our earlier discussion, we find that c ' N is ( )2 ,N A σ , sN is ( )2 0,N σ and c ' N is independent of sN . Hence,
75. 75. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.75 ( ) ( ) 2 2 2 2, 1 , exp 2 2c s c s c sN N' ' ' n A n f n n ⎡ ⎤− +⎢ ⎥ = −⎢ ⎥πσ σ ⎢ ⎥⎣ ⎦ (3.52) Let ( ) ( ) ( )c s 'R t N t N t 1 2 22⎧ ⎫⎡ ⎤ ⎡ ⎤= +⎨ ⎬⎣ ⎦⎢ ⎥⎣ ⎦⎩ ⎭ ( ) ( ) ( ) 1 tan s c ' N t t N t − ⎡ ⎤ Ψ = ⎢ ⎥ ⎢ ⎥⎣ ⎦ where ( )R t and ( )tΨ are the envelope and phase, respectively of ( )X t . By a procedure similar to that used in the computation of the PDF of the envelope of narrowband noise, we find that ( ) 2 2 , 2 2 2 cos , exp , 0, 0 2 2 2 R r r A Ar f r rΨ ⎡ ⎤+ − ψ ψ = − ≥ ≤ ψ ≤ π⎢ ⎥ πσ σ⎣ ⎦ where ( )1R R t= and ( )1tΨ = Ψ The quantity of interest is ( )Rf r , where ( ) ( ) 2 , 0 ,R Rf r f r d π Ψ= ψ ψ∫ That is, ( ) 22 2 2 2 2 0 exp exp cos 2 2 R r r A Ar f r d π ⎛ ⎞+ ⎛ ⎞ = − ψ ψ⎜ ⎟ ⎜ ⎟ πσ σ σ⎝ ⎠⎝ ⎠ ∫ (3.53) The integral on the RHS of Eq. 3.53 is identified in terms of the defining integral for the modified Bessel function of the first kind and zero order. Let ( ) ( ) 2 0 0 1 exp cos 2 I y y d π = ψ ψ π ∫ (3.54) A plot of ( )0I y is shown in Fig. 3.29. In Eq. 3.54, if we let 2 Ar y = σ , Eq. 3.53 can be rewritten as
76. 76. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.76 ( ) 2 2 02 2 2 exp 2 R r r A Ar f r I ⎛ ⎞+ ⎛ ⎞ = −⎜ ⎟ ⎜ ⎟ σ σ σ⎝ ⎠⎝ ⎠ (3.55) The PDF given by Eq. 3.55 is referred to as Rician distribution. Fig. 3.29: Plot of ( )0I y The graphical presentation of the Rician PDF can be simplified by introducing two new variables, namely, R V = σ and A α = σ . Then, the Rician density of Eq. 3.55 can be written in a normalized form, ( ) ( ) 2 2 0exp 2 V v f v v I v ⎛ ⎞+ α = − α⎜ ⎟ ⎝ ⎠ (3.56) which is plotted in Fig. 3.30 for various values of α .
77. 77. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.77 Fig. 3.30: Normalized Rician PDF for various values of α Based on these curves, we make the following observations: i) From Fig. 3.28, we find ( )0 0 1I = . If 0A = , then 0α = and ( ) 2 exp , 0 2 0 , V v v v f v otherwise ⎧ ⎛ ⎞ − ≥⎪ ⎜ ⎟ = ⎨ ⎝ ⎠ ⎪ ⎩ which is the normalized Rayleigh PDF shown earlier in Fig. 3.27. This is justified because if 0A = , then ( )R t is the envelope of only the narrowband noise. ii) For 1y >> , ( )0 2 y e I y yπ . Using this approximation, it can be shown that ( )Vf v is approximately Gaussian in the vicinity of v = α , when α is sufficiently large. That is, when the sine-wave amplitude A is large compared with σ (which is the square root of the average power in ( )N t ), ( )Vf v can be approximated by a Gaussian PDF over a certain range. This can be seen from Fig. 3.29 for the cases of 3 and 5α = .
78. 78. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.78 Appendix A3.1 Properties of Narrowband Noise: Some Proofs. We shall now give proofs to some of the properties of the NBN, mentioned in sec.3.10.2. P1) If ( )N t is zero mean Gaussian, then so are ( )cN t and ( )sN t . Proof: Generalizing Eq. 3.37 and 3.38, we have ( ) ( ) ( ) ( ) ( )cos 2 sin 2c c cN t N t f t N t f t= π + π (A3.1.1) ( ) ( ) ( ) ( ) ( )cos 2 sin 2s c cN t N t f t N t f t= π − π (A3.1.2) ( )N t is obtained as the output of an LTI system with ( ) 1 h t t = π , with the input ( )N t . This implies that if ( )N t is zero mean, then so is ( )N t . Taking the expectation of A3.1.1, we have ( ) ( ) ( ) ( ) ( )cos 2 sin 2c c cN t N t f t N t f t= π + π As ( ) ( ) 0N t N t= = , we obtain ( ) 0cN t = . Taking the expectation of A3.1.2, we obtain ( ) 0sN t = . P2) If ( )N t is a Gaussian process, then ( )cN t and ( )sN t are jointly Gaussian. Proof: This property follows from Eq. 3.40(a) because, ( )N t is guaranteed to be Gaussian only if ( )cN t and ( )sN t are jointly Gaussian. P3) If ( )N t is WSS, then ( )cN t and ( )sN t are WSS. Proof: We will first establish that ( ) ( ) ( ) ( ) ( ) ( ), cos 2 sin 2c c NN N N c cR t t R R f R f+ τ = τ = τ π τ + τ π τ (A3.1.3) (In Eq. A3.1.3, ( )NR τ is the Hilbert transform of ( )NR τ .)
79. 79. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.79 Consider the scheme shown in Fig A3.1.1. Fig. A3.1.1: Scheme to obtain ( )N t from ( )N t Eq. 3.21(a) gives us ( ) ( ) 1 NN N R Rτ = ∗ τ πτ (A3.1.4a) ( )NR= τ (A3.1.4b) ( ) ( )N N N N R Rτ = − τ , ( ) ( ) 1 NR= ∗ − τ π − τ ( ) 1 NR= − ∗ τ πτ ( )NR= − τ That is, ( ) ( )N N N N R Rτ = − τ (A3.1.5) ( ) ( ) ( ),cN c cR t t E N t N t⎡ ⎤+ τ = + τ⎣ ⎦ Expressing ( )cN t + τ and ( )cN t in terms of the RHS quantities of Eq. A3.1.1 and after some routine manipulations, we will have ( ) ( ) ( ) ( ) ( ) ( ) ( )( ) ( ) ( ) ( ) ( ) ( ) ( )( ) 1 , cos 2 2 1 cos 2 2 2 1 sin 2 2 1 sin 2 2 2 cN N cN N cN cN N N N cN N N N R t t R R f R R f t R R f R R f t ⎡ ⎤+ τ = τ + τ π τ⎣ ⎦ ⎡ ⎤+ τ − τ π + τ⎣ ⎦ ⎡ ⎤+ τ − τ π τ ⎣ ⎦ ⎡ ⎤+ τ + τ π + τ ⎣ ⎦ (A3.1.6)
80. 80. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.80 ( )N R τ is the autocorrelation of the Hilbert transform of ( )N t . As ( )N t and ( )N t have the same PSD, we have ( ) ( )N N R Rτ = τ and from Eq. A3.1.5, we have ( ) ( )N N N N R R Tτ = − . Using these results in Eq. A3.1.6, we obtain Eq. A3.1.3. P4) Both ( )cN t and ( )sN t have the same PSD which is related to ( )NS f of the original narrowband noise as follows: ( ) ( ) ( ) ( ) , 0 ,c s N c N c N N S f f S f f B f B S f S f elsewhere ⎧ − + + − ≤ ≤⎪ = = ⎨ ⎪⎩ where it is assumed that ( )NS f occupies the frequency interval c cf B f f B− ≤ ≤ + and cf B> . Proof: Taking the Fourier transform of Eq. A3.1.3, we have ( ) ( ) ( ) ( ) ( ) ( ) ( ) 1 2 1 sgn sgn 2 cN N c N c N c c N c c S f S f f S f f S f f f f S f f f f ⎡ ⎤= − + +⎣ ⎦ ⎡ ⎤− − − − + +⎣ ⎦ ( ) ( ) ( ) ( ) 1 1 1 sgn 1 sgn 2 2 N c c N c cS f f f f S f f f f⎡ ⎤ ⎡ ⎤= − − + + + + +⎣ ⎦ ⎣ ⎦ (A3.1.9) But ( ) 2 , 1 sgn 0 , c c f f f f outside <⎧ − − = ⎨ ⎩ (A3.1.10a) ( ) 2 , 1 sgn 0 , c c f f f f outside > −⎧ + + = ⎨ ⎩ (A3.1.10b) Exercise A3.1.1 Show that ( ) ( )s cN NR t R= τ (A3.1.7) and ( ) ( ) ( ) ( ) ( )sin 2 cos 2c s NN N N c cR R f R fτ = τ π τ − τ π τ (A3.1.8)
81. 81. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.81 Using Eq. A3.1.10 in Eq. A3.1.9 completes the proof. Exercise A3.1.2 Establish properties P5 to P7.
82. 82. Principles of Communication Prof. V. Venkata Rao Indian Institute of Technology Madras 3.82 References 1) A. Papoulis, Probability, Random variables and Stochastic processes (3rd ed), McGraw Hill, 1991 2) Henry Stark and John W. Woods, Probability and Random Processes with Applications to Signal processing (3rd ed), Pearson Education Asia, 2002 3) K. Sam Shanmugam and A. M. Breiphol, Random Signals: Detection, Estimation and data analysis, John Wiley, 1988